Control of a transporter based on attitude

Abstract

A transporter for transporting a load over a surface. The transporter includes a support platform for supporting the load. The support platform is characterized by a fore-aft axis, a lateral axis, and an orientation with respect to the surface, the orientation referred to as an attitude. At least one ground-contacting element is flexibly coupled to the support platform in such a manner that the attitude of the support platform is capable of variation. One or more ground-contacting elements are driven by a motorized drive arrangement. A sensor module generates a signal characterizing the attitude of the support platform. Based on the attitude, a controller commands the motorized drive arrangement.

What is claimed is: 
     
       1. A transporter for transporting a load comprising:
 a plurality of support platforms, at least one of the plurality of support platforms being tiltable; 
 at least one ground contacting element coupled to the transporter; 
 a motorized drive arrangement driving the at least one ground contacting element; at 
 least one sensor generating at least one sensor signal indicative of an attitude of at least one of the plurality of support platforms; 
 a controller commanding the motorized drive to apply a torque to the at least one ground contacting element based at least on the attitude. 
 
     
     
       2. The transporter of  claim 1 , wherein at least one point on one of the plurality of support platforms comprises a displaceable point with respect to a frame used to support the at least one ground contacting element. 
     
     
       3. The transporter of  claim 1 , wherein at least one of the plurality of support platforms is tiltable based on a position of a center of mass of the load relative to the at least one ground contacting element. 
     
     
       4. The transporter of  claim 1 , wherein the controller further comprises determining an inclination in the fore-aft plane of one of the plurality of support platforms. 
     
     
       5. The transporter of  claim 1  further comprising an axle, the axle including a parallel orientation to a lateral axis of the transporter, the at least one of the plurality of support platforms being tiltable, in a fore-aft plane of the transporter, with respect to the axle. 
     
     
       6. The transporter of  claim 1 , wherein the torque comprises positive and negative values based on changes detected by the at least one sensor signal. 
     
     
       7. A transporter comprising; a
 plurality of support platforms; 
 at least one ground contacting element coupled to the plurality of support platforms; 
 a motorized drive arrangement for driving the at least one ground contacting element; 
 at least one sensor generating at least one sensor signal indicative of an attitude of at least one of the plurality of support platforms; 
 a controller commanding the motorized drive arrangement to apply a torque to one or more of the at least one ground contacting elements based at least on the attitude. 
 
     
     
       8. The transporter of  claim 7 , wherein the at least one ground contacting element comprises a first ground contacting element and a second ground contacting element. 
     
     
       9. The transporter of  claim 7 , further comprising a pivot mechanism tiltably attaching one of the plurality of support platforms to another of the plurality of support platforms. 
     
     
       10. The transporter of  claim 7 , wherein at least one of the plurality of support platforms tilts in a fore-aft plane relative to at least a portion of the transporter. 
     
     
       11. The transporter of  claim 10 , wherein the fore-aft plane comprises an orientation perpendicular to an axis of the at least one ground contacting element. 
     
     
       12. The transporter of  claim 7 , wherein one of the plurality of support platforms tilts relative to another of the plurality of support platforms. 
     
     
       13. The transporter of  claim 7 , wherein the at least one sensor signal is based at least in part on a tilt difference between one of the plurality of support platforms and another of the plurality of support platforms. 
     
     
       14. The transporter of  claim 8 , wherein the at least one ground contacting element comprises a first ground contacting element and a second ground contacting element, the first ground contacting element and the second ground contacting element being laterally disposed. 
     
     
       15. The transporter of  claim 14 , wherein the motorized drive arrangement comprises a first motor driving the first ground contacting element and a second motor driving the second ground contacting element. 
     
     
       16. The transporter of  claim 15 , wherein the controller determines, based at least in part on the at least one sensor signal, a desired first torque for the first motor separately from a desired second torque for the second motor. 
     
     
       17. The transporter of  claim 16 , wherein the desired first torque and the desired second torque comprise positive and negative values based on changes detected by the at least one sensor signal. 
     
     
       18. The transporter of  claim 8 , wherein the first ground contacting element and the second ground contacting element comprise wheels, the wheels rotating about a first wheel axle and a second wheel axle, at least one of the at least one sensor signals indicating a location of a fiducial point on the transporter, the fiducial point being in relation to at least one of the first wheel axle and the second wheel axle.